camerad: optional exposure params overrides (#25616)

* add params override

* speedup

* put in param list

* clean up names

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: e9258cccbe

common/params.cc

@@ -88,6 +88,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
     {"CalibrationParams", PERSISTENT},
+    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
+    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
     {"CarBatteryCapacity", PERSISTENT},
     {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},

system/camerad/cameras/camera_common.h

@@ -40,6 +40,7 @@ const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
 const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
+const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
 
 typedef struct CameraInfo {
   uint32_t frame_width, frame_height;

system/camerad/cameras/camera_qcom2.cc

@@ -1101,7 +1101,18 @@ void CameraState::set_camera_exposure(float grey_frac) {
   } else if (enable_dc_gain && target_grey > 0.3) {
     enable_dc_gain = false;
   }
-
+  if (env_ctrl_exp_from_params) {
+    // Override gain and exposure time
+    if (buf.cur_frame_data.frame_id % 5 == 0) {
+      std::string gain_bytes = Params().get("CameraDebugExpGain");
+      std::string time_bytes = Params().get("CameraDebugExpTime");
+      gain_idx = std::stoi(gain_bytes);
+      exposure_time = std::stoi(time_bytes);
+    }
+    new_g = gain_idx;
+    new_t = exposure_time;
+    enable_dc_gain = false;
+  } else {
     // Simple brute force optimizer to choose sensor parameters
     // to reach desired EV
     for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) {
@@ -1133,6 +1144,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
         best_ev_score = score;
       }
     }
+  }
 
   exp_lock.lock();
 

system/camerad/cameras/camera_qcom2.h

@@ -7,6 +7,7 @@
 #include <media/cam_req_mgr.h>
 
 #include "system/camerad/cameras/camera_common.h"
+#include "common/params.h"
 #include "common/util.h"
 
 #define FRAME_BUF_COUNT 4